I am here because basically describes what i am feeling.
here is the scenario.
I have a robot that does a simple operation of sliding some pieces of shrink tube (See Kynar brand name) onto a metal device. due to the nature of the varying ID of the tube and form of the jaw i have it setup to have the distance it slides it down adjustable. this works about 80% of the time. I have setup a camera that sends and output when the plastic has gone far enough down. Right now all i am able to do is give the operator a light and say its ok to run.
My end goal is instead of having the robot go to a predetermined adjustable point, i would have it try and go to its soft stop (anti crash point). I would do a move l @P(fill in your setpoint) this is inside of an Interrupt on and Interrupt off. loop. below is the actual code i have in the robot right now.
1. ‘!title “PRO1”
2. PROGRAM PRO1
3. TAKEARM 0 keep=0
4. DELAY 500
5. SET IO68
6. MOVE P,@0(206.5879,-178.6405,219.8750,250.6452)
7. DELAY 2500
8. MOVE P,@0(208.1961,-217.6848,219.8750,-251.0973)
9. MOVE P,@0(236.3828,-209.0977,219.8750,-242.9777)
10. MOVE P,@0(228.5655,-186.3092,224.4905,-243.3461)
11. WAIT IO[48] = ON
12. MOVE P,@0(208.1961,-217.6848,219.8750,-251.0973)
13. MOVE P,@0(206.5879,-178.6405,219.875,-250.6452)
14. RESET IO68
15. MOVE P,@0(226.1668,-171.8378,228.0000,-245.6507)
16. DELAY 550
17. SET IO64
18. DELAY 300
19. SET IO68
20. WAIT IO[48] = OFF
21. WAIT IO[48] = ON
22. RESET IO68
23. DELAY 400
24. SPEED 30
25. MOVE P,@0(226.17,-171.84,216.20,-245.6507,1)
26. DELAY 1000
27. RESET IO64
28. DELAY 300
29. MOVE P,@0(226.17,-171.84,225.000,-245.6507,1)
30. DELAY 300
31. SET IO64
32. DELAY 800
33. SPEED 10
34. INTERRUPT ON
35. MOVE P,@0(226.17,-171.84,216.20,-245.6507,1)
36. INTERRUPT OFF
37. DELAY 200
38. RESET IO64
39. DELAY 400
40. SPEED 100
41. MOVE P,@0(209.6289,-182.3257,219.8806,-251.2782,1)
42. WAIT IO[48] = OFF
43. IOBLOCK OFF
44. END
I have tried injecting a +24vdc into pin #9 on CN8 I have also tried taking power from CN7 both 0V and +24VDC. neither of these are giving me the desired reaction.
and Help is greatly appreciated.